finn is the goal of a self-balancing two-wheeled humanoid I'm building from scratch, mostly to force myself to learn a wide range of robotics.

firmware, cad, sim models, identification data and logs are all at https://github.com/Masony817/finn

-- things like cad files and such are in onshape so if you're interested just email me -- im intrigued to hear what others think outside of my own brains echo chamber so email me anything you want